Abstract
The exoskeleton robot serves as a device worn by the human and it functions as a helper during heavy work operations. Active mechanical machines must be developed in such a way to allow the operator feel free and safe. There are many attempts to create human-supporter but most of these mechanisms and actuators do not use the human dynamics and are not useful in real operations. We decided to design a mechanical model of the upper-body exoskeleton which can be applied to a human by wearing like a backpack. This model can describe the motions but also we need to understand the physiology. To consider these factors we decided to design mechanical control and check if it is enough to solve our task. The result of this study leads us to set the human machine interface at the neuromuscular level. All in all, if one succeeds in combining two separate control (myoprocessor and mechanical control), it will allow to understand processes more correctly. That is the main goal of our research. The results of the study shows some important things that must be included to the future works.
I. Orlov—This work is supported by the Russian Science Foundation under grant № 18-71-10112 P.
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Chumichev, M., Orlov, I. (2022). Model-Based Control for Arm Support Exoskeleton. In: Kecskeméthy, A., Parenti-Castelli, V. (eds) ROMANSY 24 - Robot Design, Dynamics and Control. ROMANSY 2022. CISM International Centre for Mechanical Sciences, vol 606. Springer, Cham. https://doi.org/10.1007/978-3-031-06409-8_10
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DOI: https://doi.org/10.1007/978-3-031-06409-8_10
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